Quote:
Originally Posted by JesseK
Jared, that's really interesting. We have a desire to do a trapezoidal profile on our tote lift in order to prevent sudden deceleration from jerking a tote off of the hooks. We're doing something primitive right now, but I wonder if our programming lead thought about a lookup table for it.
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The only reason we used a lookup table last season is that (a) we wanted to be able to visualize the x/y/theta quintic spline paths we were generating before deploying to the robot to make sure they looked reasonable, and (b) we needed to re-parameterize our splines by arc length, which we did with naive (and costly) numerical integration that took a little too long on the cRIO. If we had more time we would have made some quick optimizations and just done it on the fly.